/*
 * To change this template, choose Tools | Templates
 * and open the template in the editor.
 */

package edu.wpi.first.wpilibj.templates;
import edu.wpi.first.wpilibj.Encoder;

/**
 *
 * @author Team 1533
 */
public class EncoderDifference implements edu.wpi.first.wpilibj.PIDSource {

    Encoder master, slave;
    double balance;

    public EncoderDifference(Encoder master, Encoder slave){
	  this.master = master;
	  this.slave = slave;
	  balance = 1;
    }

    public double pidGet(){
	  return -1*(slave.get()-master.get())*balance;
    }

    public void setBalance(double bal){
	  balance = bal+1.0;
    }

    public double getBalance(){
	  return balance-1.0;
    }

}
